检索结果-内蒙古大学图书馆

QUADFormer: Learning-based Detection of Cyber Attacks in Quadrotor UAVs

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Wang, Pengyu Yang, Zhaohua Yang, Nachuan Wang, Zikai Li, Jialu Zhang, Fan Wang, Chaoqun Wang, Jiankun Meng, Max Q.-H. Shi, Ling Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The School of Control Science and Engineering Shandong University Shandong China Jiaxing Research Institute Southern University of Science and Technology Jiaxing China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Department of Electrical and Computer Engineering The University of Alberta Canada

Safety-critical intelligent cyber-physical systems, such as quadrotor unmanned aerial vehicles (UAVs), are vulnerable to different types of cyber attacks, and the absence of timely and accurate attack detection can lead to severe consequences. When UAVs are engaged in large outdoor maneuvering flights, their system constitutes highly nonlinear dynamics that include non-Gaussian noises. Therefore, the commonly employed traditional statistics-based and emerging learning-based attack detection methods do not yield satisfactory results. In response to the above challenges, we propose QUADFormer, a novel Quadrotor UAV Attack Detection framework with transFormer-based architecture. This framework includes a residue generator designed to generate a residue sequence sensitive to anomalies. Subsequently, this sequence is fed into a transformer structure with disparity in correlation to specifically learn its statistical characteristics for the purpose of classification and attack detection. Finally, we design an alert module to ensure the safe execution of tasks by UAVs under attack conditions. We conduct extensive simulations and real-world experiments, and the results show that our method has achieved superior detection performance compared with many state-of-the-art methods. (Video1) Copyright © 2024, The Authors. All rights reserved.

关键词： Antennas

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft robotics

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Pustina, Pietro Della Santina, Cosimo Boyer, Frédéric De Luca, Alessandro Renda, Federico Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen82234 Germany Institute Mines Telecom Atlantique Nantes44307 France The Department of Mechanical and Nuclear Engineering Khalifa University of Science and Technology Abu Dhabi127788 United Arab Emirates

Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? Not only we show that the answer to this question is yes, but we also provide necessary and sufficient conditions. More specifically, we look for a representation of the configuration space such that the right-hand side of the dynamics in Euler-Lagrange form becomes [I O]Tu, being u the system input. We identify a class of systems, called collocated, for which this problem is solvable. Under mild conditions on the input matrix, a simple test is presented to verify whether a system is collocated or not. By exploiting power invariance, we provide necessary and sufficient conditions that a change of coordinates decouples the input channels if and only if the dynamics is collocated. In addition, we use the collocated form to derive novel controllers for damped underactuated mechanical systems. To demonstrate the theoretical findings, we consider several Lagrangian systems with a focus on continuum soft robots. © 2023, CC BY.

关键词： Dynamics

Addressing Relative Degree Issues in control Barrier Function Synthesis with Physics-Informed Neural Networks

学校读者我要写书评

暂无评论

arXiv 2025年

作者： Brunke, Lukas Zhou, Siqi D’Orazio, Francesco Schoellig, Angela P. Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich80333 Germany Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

In robotics, control barrier function (CBF)–based safety filters are commonly used to enforce state constraints. A critical challenge arises when the relative degree of the CBF varies across the state space. This variability can create regions within the safe set where the control input becomes unconstrained. When implemented as a safety filter, this may result in chattering near the safety boundary and ultimately compromise system safety. To address this issue, we propose a novel approach for CBF synthesis by formulating it as solving a set of boundary value problems. The solutions to the boundary value problems are determined using physics-informed neural networks (PINNs). Our approach ensures that the synthesized CBFs maintain a constant relative degree across the set of admissible states, thereby preventing unconstrained control scenarios. We illustrate the approach in simulation and further verify it through real-world quadrotor experiments, demonstrating its effectiveness in preserving desired system safety properties. Copyright © 2025, The Authors. All rights reserved.

关键词：

Research and optimization of conflict search algorithm for multi-agent path planning based on incremental heuristic 2

学校读者我要写书评

暂无评论

Research and optimization of conflict search algorithm for m...

2nd International Conference on computer Vision and Data Mining, ICVDM 2021

作者： Li, Yang Wang, Jun Zhang, Hualiang School of Computer Science Shenyang University of Chemical Technology Shenyang110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

Conflict Based Search(CBS) is used for multi-agent Pathfinding (MAPF) to enable each Agent to reach the target node. The CBS algorithm uses the heuristic algorithm A* search to calculate the MAPF solution, and the path planning uses forward search, which cannot explore the path of the unknown region. On this basis, this paper proposes that, in the case of unknown map and changing environment at any time, when encountering new obstacles, the information obtained from previous search should be used without completely replanning the path. Because of the idea of incremental programming, the number of reprogramming times and the number of affected nodes can be reduced. The optimized algorithm consumes less time and memory, and improves the efficiency of path planning. © 2021 institute of Physics Publishing. All rights reserved.

关键词： Motion planning

Volume-based Transition Zone Assessment of Hybrid Unmanned Aerial-Underwater Vehicles

学校读者我要写书评

暂无评论

Volume-based Transition Zone Assessment of Hybrid Unmanned A...

IEEE Latin American robotics Symposium, LARS

作者： Vivian Misaki Aoki Paulo Jefferson Dias De Oliveira Evald Pedro Miranda Pinheiro César Bastos Da Silva Dayana Dos Santos Cardoso Mauro André Barbosa Cunha Paulo Lilles Jorge Drews Intelligent Robotics and Automation Group Federal University of Rio Grande Rio Grande Brazil Department of Computer Engineering and Industrial Automation State University of Campinas Campinas Brazil Automation and Control Research Group Sul-rio-grandense Federal Institute Pelotas Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

Quadrotors have been used in diverse areas, such as agriculture, civil construction, fire monitoring, and so on. However, these vehicles cannot perform missions that require navigation in aquatic environments, such as inspection of underwater structures and water sample collection, due to their hardware limitations. Therefore, hybrid unmanned aerial-underwater vehicles emerge as a feasible solution to accomplish these missions. Although quadrotors have well-accepted mathematical models, hybrid vehicles have a small quantity of works dealing with this topic. Moreover, we identified a gap in transition zone representation. Therefore, this paper presents a method for transition zone modeling based on vehicle geometry. Simulation results support the better representation of the proposed transition model in comparison to a sigmoid model.

关键词： Underwater structures Navigation Simulation Force Inspection Mathematical models Hardware

Study on spiral winding swimming motion control of a slender legless creature model

学校读者我要写书评

暂无评论

High Technology Letters 2021年第4期27卷 415-421页

作者： Lu Zhenli Ma Zhipeng Marko Pencic Maja Cavic Borovac Branislav Roumiana Ilieva Bojan Nemec Marjan Mernik School of Electrical Engineering and Automation Changshu Institute of TechnologyChangshu 215500P.R.China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116P.R.China Faculty of Technical Sciences University of Novi SadNovi Sad 621000Serbia Faculty of Management Technical University of SofiaSofia 1000Bulgaria Department of Automatics Biocybernetics and RoboticsJožef Stefan InstituteLjubljana 1000Slovenia Faculty of Electrical Engineering and Computer Science University of MariborMaribor 462000Slovenia

Through the observation and analysis of the motion trajectory of spiral winding motion for slender legless biological creatures in water,V-REP software is adopted to build a dynamic simulator to study on the mechanism of spiral winding swimming(SWS)*** using the output of spiral function(SF),the dynamic simulation model of slender legless creature(SLC)realizes the SWS motion in *** corresponding experiments under the control of different bending angle of SF to control the dynamic model are also carried out to analyze the water performance of SWS in still *** with the output of two different bending angles of the spiral function,the dynamic model can be used to realize SWS and up/down *** work provides technical reserve and experimental platform for the corresponding study in related fields.

关键词： V-REP spiral winding swimming(SWS) motion control slender legless creature(SLC)

Comparison of Vibration and Noise Characteristics between Radial Flux PMSMs And Axial Flux PMSMs

学校读者我要写书评

暂无评论

Comparison of Vibration and Noise Characteristics between Ra...

International Conference on Electrical Machines and Systems (ICEMS)

作者： Mengfei Wei Chi Zhang Yunpeng Gao Yongzhou Qing Chinese Academy of Sciences Ningbo Institute of Materials Technology and Engineering Ningbo China University of Chinese Academy of Sciences Beijing China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo China Ningbo Jingwei Computer Numerical Control Company Limted

ISBN: (数字)9781665493024

ISBN: (纸本)9781665493031

Radial flux permanent synchronous machines (PMSM) and axial flux permanent magnet synchronous machines are two main types of rotating machines used in electric vehicles. The vibration and noise characteristics of the above two types of machines are seldom compared. In this paper, two radial flux PMSMs and two axial flux PMSMs with identical power and stator structure but different slot-pole combinations are proposed, and their electromagnetic vibration and noise performances are compared. Firstly, the performance of the four machines are introduced. Secondly, the time-space distribution of the electromagnetic force exerted on stator teeth are analyzed and compared. Finally, the electromagnetic vibration and noise analysis is conducted based on a multiphysics model. The difference of electromagnetic vibration and noise characteristics between radial flux PMSMs and axial flux PMSMs are revealed. In the meantime, the influence of slot-pole combinations on vibration and noise of PMSMs are also investigated.

关键词： Vibrations Permanent magnet machines Time-frequency analysis Modal analysis Electromagnetic forces Stators Power capacitors

Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Raytracing for Embedded Hardware on Mobile Robots

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Mock, Alexander Wiemann, Thomas Hertzberg, Joachim Knowledge Based Systems Group Institute of Computer Science Osnabrück University Berghoffstraße 11 Osnabrück49090 Germany Autonomous Robotics Group Institute of Computer Science Osnabrück University Berghoffstraße 11 Osnabrück49090 Germany DFKI Niedersachsen Plan-based Robot Control Berghoffstraße 11 Osnabrück49090 Germany

Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking. However, commonly used simulators have high hardware requirements and are therefore used mostly on high-end computers. In this paper, we present an approach to simulate range sensors directly on embedded hardware of mobile robots that use triangle meshes as environment map. This library called Rmagine allows a robot to simulate sensor data for arbitrary range sensors directly on board via raytracing. Since robots typically only have limited computational resources, the Rmagine aims at being flexible and lightweight, while scaling well even to large environment maps. It runs on several platforms like Laptops or embedded computing boards like Nvidia Jetson by putting an unified API over the specific proprietary libraries provided by the hardware manufacturers. This work is designed to support the future development of robotic applications depending on simulation of range data that could previously not be computed in reasonable time on mobile systems. Copyright © 2022, The Authors. All rights reserved.

关键词： Mobile robots

Application of Machine Learning to Performance Assessment for a class of PID-based control Systems

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Grelewicz, Patryk Khuat, Thanh Tung Czeczot, Jacek Nowak, Pawel Klopot, Tomasz Gabrys, Bogdan Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Gliwice44100 Poland University of Technology Sydney Faculty of Engineering and IT Advanced Analytics Institute NSW2007 Australia

In this paper, a novel machine learning derived control performance assessment (CPA) classification system is proposed. It is dedicated for a wide class of PID-based control industrial loops with processes exhibiting dynamical properties close to second order plus delay time (SOPDT). The proposed concept is very general and easy to configure to distinguish between acceptable and poor closed loop performance. This approach allows for determining the best (but also robust and practically achievable) closed loop performance based on very popular and intuitive closed loop quality factors. Training set can be automatically derived off-line using a number of different, diverse control performance indices (CPIs) used as discriminative features of the assessed control system. The proposed extended set of CPIs is discussed with comprehensive performance assessment of different machine learning based classification methods and practical application of the suggested solution. As a result, a general-purpose CPA system is derived that can be immediately applied in practice without any preliminary or additional learning stage during normal closed loop operation. It is verified by practical application to assess the control system for a laboratory heat exchange and distribution *** Codes 93 © 2021, CC BY-NC-SA.

关键词： Three term control systems